Wheel positioning method and system, medium, apparatus, and battery charging and swapping station

Abstract

The disclosure relates to the field of battery charging and swapping technologies, and specifically, to a wheel positioning method and system, a medium, an apparatus, and a battery charging and swapping station. The disclosure aims to resolve the problem of poor applicability of an existing four-wheel positioning method for a battery charging and swapping station. In view of this, the wheel positioning method of the disclosure includes: controlling all wheel push members to move laterally from their respective initial positions and obtaining a first real-time torque of each wheel push member; when each first real-time torque reaches the first preset torque threshold, controlling all the wheel push members to return to their respective initial positions; controlling all the wheel push members to move laterally again from their respective initial positions and obtaining a second real-time torque of each wheel push member; when each second real-time torque reaches the second preset torque threshold, controlling all the wheel push members to stop moving. The disclosure may improve applicability of the wheel positioning method, making the positioning method applicable to all types of wheel hubs.

What is claimed is: 
     
         1 . A wheel positioning method, applied to a battery charging and swapping station, the battery charging and swapping station comprising a battery swap platform and a centring mechanism, and the centring mechanism comprising four wheel push members, wherein the wheel positioning method comprises:
 controlling all the wheel push members to move laterally from their respective initial positions and obtaining a first real-time torque of each wheel push member;   comparing each first real-time torque with a first preset torque threshold;   when each first real-time torque reaches the first preset torque threshold, controlling all the wheel push members to return to their respective initial positions;   controlling all the wheel push members to move laterally again from their respective initial positions and obtaining a second real-time torque of each wheel push member;   comparing each second real-time torque with a second preset torque threshold; and   when each second real-time torque reaches the second preset torque threshold, controlling all the wheel push members to stop moving, wherein   the first preset torque threshold is greater than the second preset torque threshold.   
     
     
         2 . The wheel positioning method according to  claim 1 , wherein before the step of controlling all the wheel push members to return to their respective initial positions, the wheel positioning method further comprises:
 when first real-time torques of two wheel push members corresponding to front wheels each reach the first preset torque threshold, controlling the two wheel push members corresponding to the front wheels to stop moving; and   when first real-time torques of two wheel push members corresponding to rear wheels each reach the first preset torque threshold, controlling the two wheel push members corresponding to the rear wheels to stop moving.   
     
     
         3 . The wheel positioning method according to  claim 1 , wherein the first preset torque threshold and the second preset torque threshold are determined based on a rated torque of the wheel push member. 
     
     
         4 . The wheel positioning method according to  claim 3 , wherein the first preset torque threshold is 40% to 55% of the rated torque, and the second preset torque threshold is 20% to 40% of the rated torque. 
     
     
         5 . The wheel positioning method according to  claim 1 , wherein the wheel positioning method further comprises:
 obtaining a moving distance and a third real-time torque of each wheel push member during positioning;   determining, based on the moving distance and the third real-time torque, whether there is a wheel push member having an overrunning torque; and   if there is a wheel push member having an overrunning torque, controlling the wheel push member having an overrunning torque to stop moving.   
     
     
         6 . The wheel positioning method according to  claim 5 , wherein the step of determining, based on the moving distance and the third real-time torque, whether there is a wheel push member having an overrunning torque further comprises:
 comparing the moving distance with a preset distance threshold;   when the moving distance is less than or equal to the preset distance threshold, comparing the third real-time torque with a third preset torque threshold; and   when the third real-time torque is greater than the third preset torque threshold, determining that there is a wheel push member having an overrunning torque; or   when the moving distance is greater than the preset distance threshold, comparing the third real-time torque with a fourth preset torque threshold; and   when the third real-time torque is greater than the fourth preset torque threshold, determining that there is a wheel push member having an overrunning torque, wherein   the third preset torque threshold is greater than the fourth preset torque threshold.   
     
     
         7 . The wheel positioning method according to  claim 5 , wherein the wheel positioning method further comprises:
 giving an overload alarm when or after the wheel push member having an overrunning torque is controlled to stop moving.   
     
     
         8 . The wheel positioning method according to  claim 6 , wherein the preset distance threshold is determined based on a theoretical extension distance of the wheel push member; and/or the third preset torque threshold and the fourth preset torque threshold are determined based on a rated torque of the wheel push member. 
     
     
         9 . The wheel positioning method according to  claim 8 , wherein the preset distance threshold is 93% to 97% of the theoretical extension distance; and/or the third preset torque threshold is 70% to 80% of the rated torque and the fourth preset torque threshold is 55% to 65% of the rated torque. 
     
     
         10 . A wheel positioning system, applied to a battery charging and swapping station, the battery charging and swapping station comprising a battery swap platform and a centring mechanism, and the centring mechanism comprising four wheel push members, wherein the wheel positioning system comprises:
 an obtaining module configured to obtain a first real-time torque of each wheel push member when all the wheel push members move laterally from their respective initial positions, and obtain a second real-time torque of each wheel push member when all the wheel push members are controlled to move laterally again from their respective initial positions;   a determining module configured to compare each first real-time torque with a first preset torque threshold, and compare each second real-time torque with a second preset torque threshold; and   a control module configured to control all the wheel push members to move laterally from their respective initial positions; when each first real-time torque reaches the first preset torque threshold, control all the wheel push members to return to their respective initial positions; control all the wheel push members to move laterally again from their respective initial positions; and when each second real-time torque reaches the second preset torque threshold, control all the wheel push members to stop moving, wherein
 the first preset torque threshold is greater than the second preset torque threshold. 
   
     
     
         11 . The wheel positioning system according to  claim 10 , wherein the control module is further configured to:
 when first real-time torques of two wheel push members corresponding to front wheels each reach the first preset torque threshold, control the two wheel push members corresponding to the front wheels to stop moving; and   when first real-time torques of two wheel push members corresponding to rear wheels each reach the first preset torque threshold, control the two wheel push members corresponding to the rear wheels to stop moving.   
     
     
         12 . The wheel positioning system according to  claim 10 , wherein the first preset torque threshold and the second preset torque threshold are determined based on a rated torque of the wheel push member. 
     
     
         13 . The wheel positioning system according to  claim 12 , wherein the first preset torque threshold is 40% to 55% of the rated torque, and the second preset torque threshold is 20% to 40% of the rated torque. 
     
     
         14 . The wheel positioning system according to  claim 10 , wherein the obtaining module is further configured to obtain a moving distance and a third real-time torque of each wheel push member during positioning;
 the determining module is further configured to determine, based on the moving distance and the third real-time torque, whether there is a wheel push member having an overrunning torque; and   the control module is further configured to: if there is a wheel push member having an overrunning torque, control the wheel push member having an overrunning torque to stop moving.   
     
     
         15 . The wheel positioning system according to  claim 14 , wherein the determining module determines, based on the moving distance and the third real-time torque, whether there is a wheel push member having an overrunning torque, in the following manners:
 comparing the moving distance with a preset distance threshold;   when the moving distance is less than or equal to the preset distance threshold, comparing the third real-time torque with a third preset torque threshold; and   when the third real-time torque is greater than the third preset torque threshold, determining that there is a wheel push member having an overrunning torque; or   when the moving distance is greater than the preset distance threshold, comparing the third real-time torque with a fourth preset torque threshold; and   when the third real-time torque is greater than the fourth preset torque threshold, determining that there is a wheel push member having an overrunning torque, wherein   the third preset torque threshold is greater than the fourth preset torque threshold.   
     
     
         16 . The wheel positioning system according to  claim 14 , wherein the wheel positioning system further comprises:
 an alarm module configured to give an overload alarm when or after the wheel push member having an overrunning torque is controlled to stop moving.   
     
     
         17 . The wheel positioning system according to  claim 15 , wherein the preset distance threshold is determined based on a theoretical extension distance of the wheel push member; and/or the third preset torque threshold and the fourth preset torque threshold are determined based on a rated torque of the wheel push member. 
     
     
         18 . The wheel positioning system according to  claim 17 , wherein the preset distance threshold is 93% to 97% of the theoretical extension distance; and/or the third preset torque threshold is 70% to 80% of the rated torque and the fourth preset torque threshold is 55% to 65% of the rated torque. 
     
     
         19 . A computer-readable storage medium, storing multiple program codes, wherein the program codes are adapted to be loaded and run by a processor to perform the wheel positioning method according to  claim 1 .